EP 4019204 A4 20230503 - METHOD, DEVICE AND SYSTEM FOR CONTROLLING ROBOT, STORAGE MEDIUM AND TERMINAL
Title (en)
METHOD, DEVICE AND SYSTEM FOR CONTROLLING ROBOT, STORAGE MEDIUM AND TERMINAL
Title (de)
VERFAHREN, VORRICHTUNG UND SYSTEM ZUR STEUERUNG EINES ROBOTERS, SPEICHERMEDIUM UND ENDGERÄT
Title (fr)
PROCÉDÉ, DISPOSITIF ET SYSTÈME DE COMMANDE DE ROBOT, SUPPORT D'INFORMATIONS ET TERMINAL
Publication
Application
Priority
CN 2019109586 W 20190930
Abstract (en)
[origin: EP4019204A1] Provided are a method, a device (20) and a system (1) for controlling a robot (10), a storage medium and a terminal, the robot is provided with a tool (40), the tool (40) is carried by the robot (10) to move along a path, and the tool (40) has a predetermined position and a predetermined direction at a plurality of path points of the path, the method comprises: controlling the robot (10) according to a predetermined angle at a plurality of path points of the path; acquiring the position and the actual direction of the tool (40); according to the actual position and actual direction of the tool (40) at a plurality of path points, determining the actual motion parameters of the robot (10) at the path points; according to the actual motion parameters, determining an adjustment angle of each joint (102) that makes the actual position and actual direction of the tool (40) at a plurality of path points be consistent with a predetermined position and predetermined direction; and controlling the robot (10) to make the tool (40) move along the path according to the adjusted angle. The method can monitor and adjust the moving path of the robot (10) to make the motion of the robot (10) accurate.
IPC 8 full level
B25J 9/16 (2006.01)
CPC (source: EP US)
B25J 9/1664 (2013.01 - EP US); B25J 9/1694 (2013.01 - US); G05B 19/4155 (2013.01 - US); G05B 2219/36087 (2013.01 - EP); G05B 2219/49087 (2013.01 - EP); G05B 2219/50391 (2013.01 - US)
Citation (search report)
- [X] WO 2018081136 A2 20180503 - GREGERSON EUGENE [US], et al
- [X] US 2019021802 A1 20190124 - MOCTEZUMA DE LA BARRERA JOSÉ LUIS [DE], et al
- See also references of WO 2021062694A1
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
DOCDB simple family (publication)
EP 4019204 A1 20220629; EP 4019204 A4 20230503; CN 114174009 A 20220311; CN 114174009 B 20230721; US 2022371196 A1 20221124; WO 2021062694 A1 20210408
DOCDB simple family (application)
EP 19948118 A 20190930; CN 2019109586 W 20190930; CN 201980098492 A 20190930; US 201917764420 A 20190930